Application of the crow search algorithm to achieve an optimal solution for a double link manipulator

Abstract

Robotic manipulators are mechanical devices that are electronically controlled and have several linkages that allow them to do specific jobs under specified situations. Here, a double-link manipulator is explored and modified using uncertainty factors that impact the robot manipulator's performance in monitoring the angular position. Unlike, the standard Lagrangian technique is employed to derive the motion equations and calculate the performance of the Two Link Robot Manipulator. Because the motion equation involves a nonlinear system of ordinary differential equations, getting to the target place is challenging. Meta-heuristic search algorithms were standard methodologie to solve any optimization problem, mainly real-time problems. Meta-heuristic algorithms depend upon the natural behaviour of the animals or birds. This paper uses a Crow search algorithm to minimize the trajectory and position of the double link manipulator. It also demonstrates how the Crow search algorithm can easily be used to solve optimal control problems (OCP) with constraints in MATLAB simulation. The Crow search algorithm depends on the crow's behaviour of keeping their excess food in a safe place and getting it as needed. The Crow search algorithm (CSA) was compared with particle swarm optimization (PSO), differential evolution (DE), and Grey Wolf Optimization (GWO). The double link manipulator's fundamental Model's performance is computed to find a solution. The Crow search method has produced notable results in terms of performance, i.e. 25 % to 98 % better, compared to other algorithms such as DE, PSO, and GWO.

Keywords

• Double link manipulator(DLM)
• Crow search algorithm
• Optimal Control Problem